System and method for identifying plugging of ground engaging tools based on lifting pressure

ABSTRACT

A system for identifying plugging within an agricultural implement is provided. The system includes a ground engaging tool configured to be supported by the agricultural implement. A fluidic actuator is coupled to the ground engaging tool. The fluidic actuator is operable to adjust the ground engaging tool between a lifted position and a ground engaging position. A pressure sensor is configured to measure a pressure of fluid supplied to the fluidic actuator. A controller is communicatively coupled to the pressure sensor. The controller is configured to receive, from the pressure sensor, a signal that corresponds to the pressure of fluid supplied to the fluidic actuator. The controller is further configured to determine when the ground engaging tool is plugged based at least in part on the signal from the pressure sensor.

FIELD OF THE INVENTION

The present disclosure generally relates to agricultural implements and,more particularly, to systems and methods for identifying plugging ofground engaging tools of an agricultural implement, such as rollingbasket assemblies, based on a pressure of fluid supplied to an actuator.

BACKGROUND OF THE INVENTION

It is well known that, to attain the best agricultural performance froma field, a farmer must cultivate the soil, typically through a tillageoperation. Modern farmers perform tillage operations by pulling atillage implement behind an agricultural work vehicle, such as atractor. Tillage implements typically include one or more groundengaging tools configured to engage the soil as the implement is movedacross the field. For example, in certain configurations, the implementmay include one or more harrow discs, leveling discs, rolling baskets,shanks, tines, and/or the like. Such ground engaging tool(s) loosenand/or otherwise agitate the soil to prepare the field for subsequentplanting operations.

During tillage operations, field materials, such as residue, soil,rocks, mud, and/or the like, may become trapped or otherwise accumulateon and/or within ground engaging tools or between adjacent groundengaging tools. For instance, material accumulation will often occuraround the exterior of a basket assembly (e.g., on the blades or bars ofthe basket assembly) and/or within the interior of the basket assembly.Such accumulation of field materials may prevent the basket assemblyfrom performing in a desired manner during the performance of a tillageoperation. In such instances, it is often necessary for the operator totake certain corrective actions to remove the material accumulation.However, it is typically difficult for the operator to detect ordetermine a plugged condition of a basket assembly or any other suitableground engaging tool(s) when viewing the tools from the operator's cab.

Accordingly, an improved system and method for identifying plugging ofground engaging tools of an agricultural implement would be welcomed inthe technology.

SUMMARY OF THE INVENTION

Aspects and advantages of the technology will be set forth in part inthe following description, or may be obvious from the description, ormay be learned through practice of the technology.

In one example aspect, the present subject matter is directed to asystem for identifying plugging within an agricultural implementincludes a ground engaging tool configured to be supported by theagricultural implement. A fluidic actuator is coupled to the groundengaging tool. The fluidic actuator is operable to adjust the groundengaging tool between a lifted position and a ground engaging position.A pressure sensor is configured to measure a pressure of fluid suppliedto the fluidic actuator. A controller is communicatively coupled to thepressure sensor. The controller is configured to receive, from thepressure sensor, a signal that corresponds to the pressure of fluidsupplied to the fluidic actuator. The controller is further configuredto determine when the ground engaging tool is plugged based at least inpart on the signal from the pressure sensor.

In another example aspect, the present subject matter is directed to anagricultural implement. The agricultural implement includes a frame. Abasket assembly is configured to be supported by the frame. A fluidicactuator is coupled to the basket assembly. The fluidic actuator isoperable to adjust the basket assembly between a lifted position and aground engaging position. A pressure sensor is configured to measure apressure of fluid supplied to the fluidic actuator. A controller iscommunicatively coupled to the pressure sensor. The controller isconfigured to receive, from the pressure sensor, a signal thatcorresponds to the pressure of fluid supplied to the fluidic actuator.The controller is further configured to determine when the basketassembly is plugged based at least in part on the signal from thepressure sensor.

In a further example aspect, the present subject matter is directed to amethod for identifying plugging within an agricultural implement. Themethod includes receiving a signal from a pressure sensor. The signalcorresponds to a measured pressure of fluid supplied to a fluidicactuator coupled to a ground engaging tool. The method also includescomparing, with a computing device, the measured pressure of fluidsupplied to the fluidic actuator to a predetermined threshold, andidentifying, with the computing device, that the ground engaging tool isplugged in response to the measured pressure of fluid supplied to thefluidic actuator exceeding the predetermined threshold.

These and other features, aspects and advantages of the presenttechnology will become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the technology and, together with the description, serveto explain the principles of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure of the present technology, including thebest mode thereof, directed to one of ordinary skill in the art, is setforth in the specification, which makes reference to the appendedfigures, in which:

FIG. 1 illustrates a perspective view of one example embodiment of anagricultural implement coupled to a work vehicle in accordance withaspects of the present subject matter;

FIG. 2 illustrates another perspective view of the agriculturalimplement shown in FIG. 1 in accordance with example aspects of thepresent subject matter;

FIG. 3 illustrates a partial perspective view of finishing toolspositioned at an aft end of the implement shown in FIGS. 1 and 2,particularly illustrating one embodiment of a system for identifyingplugging of ground engaging tools provided in operative association withthe implement in accordance with aspects of the present subject matter;

FIG. 4 illustrates a schematic view of one embodiment of a system foridentifying plugging of ground engaging tools of an agriculturalimplement in accordance with aspects of the present subject matter; and

FIG. 5 illustrates a flow diagram of one embodiment of a method foridentifying plugging of ground engaging tools of an agriculturalimplement in accordance with aspects of the present subject matter.

Repeat use of reference characters in the present specification anddrawings is intended to represent the same or analogous features orelements of the present technology.

DETAILED DESCRIPTION OF THE DRAWINGS

Reference now will be made in detail to embodiments of the invention,one or more examples of which are illustrated in the drawings. Eachexample is provided by way of explanation of the invention, notlimitation of the invention. In fact, it will be apparent to thoseskilled in the art that various modifications and variations can be madein the present invention without departing from the scope or spirit ofthe invention. For instance, features illustrated or described as partof one embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that the present inventioncovers such modifications and variations as come within the scope of theappended claims and their equivalents.

In general, the present subject matter is directed to systems andmethods for identifying plugging of ground engaging tools of anagricultural implement. Specifically, in several embodiments, thedisclosed system may include a pressure sensor that is operable tomeasure a pressure of supplied to a fluidic actuator, which is coupledto a ground engaging tool and/or operable to adjust the ground engagingtool between a lifted position and a ground engaging position. Ingeneral, the pressure sensor may output a signal that corresponds to thepressure of fluid supplied to the fluidic actuator, e.g., as the fluidicactuator lifts the ground engaging tool. With accumulation of fieldmaterials on, within, and/or adjacent to the ground engaging tool, theweight of the ground engaging tool(s) increases such that the pressureof fluid required to operate the fluidic actuator and lift the groundengaging tool likewise increases. The measured pressure from thepressure sensor may be used to determine when the ground engagingtool(s) is/are plugged as the measured pressure increases. By monitoringthe measured pressure from the pressure sensor, an associated controlleror computing device of the system may infer or determine that the groundengaging tool(s) is/are currently plugged or experiencing a pluggedcondition. For instance, the measured pressure may be compared to areference pressure, which corresponds to the normal, non-pluggedpressure supplied to the fluidic actuator. Thus, the current, measuredpressure supplied to the fluidic actuator may be compared to the normalpressure supplied to the fluidic actuator that lifts the ground engagingtool when the ground engaging tool is not-plugged. When the measuredpressure is greater than the reference pressure by no less than athreshold difference, the controller may determine the existence ofmaterial accumulation on, within, and/or adjacent to the ground engagingtool(s). Once it is determined that the ground engaging tool(s) is/areplugged, an appropriate control action may then be executed, such as bynotifying the operator of the plugged condition or by performing anautomated control action.

Referring now to the drawings, FIGS. 1 and 2 illustrate differingperspective views of one embodiment of an agricultural implement 10 inaccordance with aspects of the present subject matter. Specifically,FIG. 1 illustrates a perspective view of the agricultural implement 10coupled to a work vehicle 12. Additionally, FIG. 2 illustrates aperspective view of the implement 10, particularly illustrating variouscomponents of the implement 10.

In general, the implement 10 may be configured to be towed across afield in a direction of travel (e.g., as indicated by arrow 14 inFIG. 1) by the work vehicle 12. As shown, the implement 10 may beconfigured as a tillage implement, and the work vehicle 12 may beconfigured as an agricultural tractor. However, in other embodiments,the implement 10 may be configured as any other suitable type ofimplement, such as a seed-planting implement, a fertilizer-dispensingimplement, and/or the like. Similarly, the work vehicle 12 may beconfigured as any other suitable type of vehicle, such as anagricultural harvester, a self-propelled sprayer, and/or the like.

As shown in FIG. 1, the work vehicle 12 may include a pair of fronttrack assemblies 16, a pair or rear track assemblies 18, and a frame orchassis 20 coupled to and supported by the track assemblies 16, 18. Anoperator's cab 22 may be supported by a portion of the chassis 20 andmay house various input devices for permitting an operator to controlthe operation of one or more components of the work vehicle 12 and/orone or more components of the implement 10. Additionally, as isgenerally understood, the work vehicle 12 may include an engine 24 and atransmission 26 mounted on the chassis 20. The transmission 26 may beoperably coupled to the engine 24 and may provide variably adjusted gearratios for transferring engine power to the track assemblies 16, 18 viaa drive axle assembly (not shown) (or via axles if multiple drive axlesare employed).

As shown in FIGS. 1 and 2, the implement 10 may include a frame 28. Morespecifically, as shown in FIG. 2, the frame 28 may extend longitudinallybetween a forward end 30 and an aft end 32. The frame 28 may also extendlaterally between a first side 34 and a second side 36. In this respect,the frame 28 generally includes a plurality of structural frame members38, such as beams, bars, and/or the like, configured to support orcouple to a plurality of components. Furthermore, a hitch assembly 40may be connected to the frame 28 and configured to couple the implement10 to the work vehicle 12. Additionally, a plurality of wheels 42 (oneis shown) may be coupled to the frame 28 to facilitate towing theimplement 10 in the direction of travel 14.

In several embodiments, the frame 28 may be configured to supportvarious ground engaging tools. For instance, the frame 28 may supportone or more gangs or sets 44 of disc blades 46. Each disc blade 46 maybe configured to penetrate into or otherwise engage the soil as theimplement 10 is being pulled through the field. In this regard, thevarious disc gangs 44 may be oriented at an angle relative to thedirection of travel 14 to promote more effective tilling of the soil. Inthe embodiment shown in FIGS. 1 and 2, the implement 10 includes fourdisc gangs 44 supported on the frame 28 adjacent to its forward end 30.However, it should be appreciated that, in alternative embodiments, theimplement 10 may include any other suitable number of disc gangs 44,such as more or fewer than four disc gangs 44. Furthermore, in oneembodiment, the disc gangs 44 may be mounted to the frame 28 at anyother suitable location, such as adjacent to its aft end 32.

Additionally, as shown, in one embodiment, the implement frame 28 may beconfigured to support other ground engaging tools. For instance, in theillustrated embodiment, the frame 28 is configured to support aplurality of shanks 50 configured to rip or otherwise till the soil asthe implement 10 is towed across the field. Furthermore, in theillustrated embodiment, the frame 28 is also configured to support oneor more finishing tools, such as a plurality of leveling blades 52and/or rolling (or crumbler) basket assemblies 54. However, in otherembodiments, any other suitable ground-engaging tools may be coupled toand supported by the implement frame 28, such as a plurality closingdiscs.

Referring now to FIG. 3, a partial, perspective view of the aft end ofthe implement 10 shown in FIGS. 1 and 2 is illustrated in accordancewith aspects of the present subject matter, particularly illustrating aportion of the finishing tools 52, 54 of the implement 10. As shown, thevarious finishing tools 52, 54 may be coupled to or supported by theimplement frame 28, such as by coupling each tool to a toolbar orlaterally extending frame member 38 of the frame 38. For instance, asshown in FIG. 3, a blade support arm 60 may be coupled between a givenframe member 38 and each leveling blade 52 or set of leveling blades 52to support the blades 52 relative to the frame 28. Similarly, one ormore basket support arms 62 may be coupled between a given frame member38 and an associated mounting yoke or basket hanger 64 for supportingeach basket assembly 54 relative to the frame 28. Additionally, as shownin FIG. 3, in one embodiment, a basket actuator 66 (e.g., a hydraulic orpneumatic cylinder) may be coupled to each basket support arm 62 toallow the down force or down pressure applied to each basket assembly 54to be adjusted. The basket actuators 66 may also allow the basketassemblies 54 to be raised off the ground, such as when the implement 10is making a headland turn and/or when the implement 10 is being operatedwithin its transport mode.

In several embodiments, each basket assembly 54 includes a plurality ofsupport plates 70, 72, 74 configured to support a plurality of blades orbars 76 spaced circumferentially about the outer perimeter of thebasket. For instance, as shown in FIG. 3, each basket assembly 54includes first and second end plates 70, 72 positioned at the opposedlateral ends of the basket assembly 54 and a plurality of inner supportplates 74 spaced apart laterally from one another between the end plates70, 72. Lateral basket sections 78 are generally defined between eachpair of adjacent support plates 70, 72, 74, with each basket section 78being generally characterized by a hollow or substantially hollowinterior area surrounded by the lateral portions of the bars 76extending between the respective pair of adjacent support plates 70, 72,74. As is generally understood, the end plates 70, 72 may be rotatablycoupled to the corresponding basket hanger 64 (which, in turn, iscoupled to the associated bracket support arm(s) 62) via bearings toallow the basket assembly 54 to rotate relative to the hanger/arm 64, 62as implement 10 is being moved across the field. Additionally, in theillustrated embodiment, the bars 76 of each basket assembly 54 areconfigured as formed bars. However, in other embodiments, the bars 76may have any other suitable configuration, such as flat bars, roundbars, and/or the like.

Moreover, in accordance with aspects of the present subject matter, FIG.3 also illustrates components of one embodiment of a system 100 foridentifying plugging of ground engaging tools of an agriculturalimplement. Specifically, in the illustrated embodiment, the system 100is shown as being configured for use in identifying a pluggedcondition(s) of the basket assemblies 54. However, in other embodiments,the system 100 may be utilized to identify a plugged condition of anyother suitable ground engaging tool(s), such as blades, disks, shanks,and/or the like.

As shown in FIG. 3, the system 100 includes one or more pressure sensors102 configured to measure the pressure of fluid supplied to basketactuators 66. In general, pressure sensors 102 may output a signal thatcorresponds to the pressure of fluid supplied to basket actuators 66 forone or more of basket assemblies 54. During normal, non-pluggedoperation of the basket assembly 54, the measured pressure from pressuresensor 102 may be relatively low. Conversely, with accumulation of fieldmaterials on and/or within the basket assembly 54, the measured pressurefrom pressure sensor 102 may increase and be relatively high. Bydetecting the increase in the measured pressure from pressure sensor102, an associated controller or computing device 106 (FIGS. 4 and 5) ofthe system 100 may infer or determine that the basket assembly 54 iscurrently plugged or experiencing a plugged condition. For instance, inone embodiment, the controller 106 may be configured to compare themeasured pressure from pressure sensor 102 to a reference pressure,which corresponds to the normal, non-plugged operating pressure ofbasket actuator 66, and the controller 106 may determine the existenceof material accumulation on or within the basket assembly 54 in responseto the measured pressure from pressure sensor 102 being greater than thereference pressure by a predetermined difference. Once it is determinedthat the basket assembly 54 is plugged, an appropriate control actionmay then be executed, such as by notifying the operator of the pluggedcondition or by performing an automated control action.

In several embodiments, one or more of pressure sensors 102 may bemounted on toolbar(s) 38 of implement frame 28, basket support arm 62,etc. In alternative example embodiments, pressure sensors 102 may beintegrated within basket actuators 66, positioned on work vehicle 12, onbasket support arm 62, etc. such that pressure sensors 102 are operableto measure the pressure of fluid supplied to basket actuators 66 whenbasket actuators 66 raise basket assemblies 54 off the ground, such aswhen implement 10 is making a headland turn. Thus, basket actuators 66may lift basket assemblies 54 off the ground, and pressure sensors 102may output a signal corresponding to the pressure of fluid supplied tobasket actuators 66. Pressure sensors 102 may be any suitable device formeasuring the pressure of fluid supplied to basket actuators 66. Forexample, pressure sensors 102 may include capacitive pressure sensors,electromagnetic pressure sensors, piezoelectric pressure sensors,piezoresistive strain gauges, optical pressure sensors, potentiometricpressure sensors, etc.

Referring now to FIG. 4, a schematic view of one embodiment of a system100 for identifying plugging of ground engaging tools of an agriculturalimplement is illustrated in accordance with aspects of the presentsubject matter. In general, the system 100 will be described withreference to the implement shown in FIGS. 1 and 2 and the basketassembly 54 and associated system components shown in FIGS. 3 and 4.However, in other embodiments, the disclosed system 100 may be utilizedto identifying tool plugging in association with any other suitableagricultural implement having any other suitable implement configurationand/or with any other suitable ground engaging tool(s) having any othersuitable tool configuration.

As indicated above, in several embodiments, the system 100 may includeone or more pressure sensors 102 operable to measure a pressure of fluidsupplied to an actuator connected to a ground engaging tool (e.g., abasket actuator 66 connected to a basket assembly 54). Additionally, asindicated above, the system 100 may also include a controller 106communicatively coupled to the pressure sensor(s) 102. As will bedescribed in greater detail below, controller 106 may be configured toanalyze the signals received from pressure sensors 102 and/or relateddata 114 associated with such signals to infer or estimate the existenceof material accumulation on, within, and/or adjacent to the associatedground engaging tool. Additionally, the controller 106 may also beconfigured to execute one or more control actions in response to thedetermination that the associated ground engaging tool is likely pluggedor in the process of becoming plugged. For instance, in one embodiment,the controller 106 may notify the operator that the tool is plugged oris likely to become plugged in the near future. In addition to notifyingthe operator (or as an alternative thereto), the controller 106 may beconfigured to execute one or more automated control actions adapted tode-plug the ground engaging tool or otherwise reduce the amount ofmaterial accumulation on, within, and/or adjacent to the tool, such asby automatically adjusting the speed of the implement 10 and/or the downforce applied to the ground engaging tool and/or by automaticallyraising and lowering the ground engaging tool relative to the ground.

In general, the controller 106 may correspond to any suitableprocessor-based device(s), such as a computing device or any combinationof computing devices. Thus, as shown in FIG. 4, the controller 106 maygenerally include one or more processor(s) 110 and associated memorydevices 112 configured to perform a variety of computer-implementedfunctions (e.g., performing the methods, steps, algorithms, calculationsand the like disclosed herein). As used herein, the term “processor”refers not only to integrated circuits referred to in the art as beingincluded in a computer, but also refers to a controller, amicrocontroller, a microcomputer, a programmable logic controller (PLC),an application specific integrated circuit, and other programmablecircuits. Additionally, the memory 112 may generally comprise memoryelement(s) including, but not limited to, computer readable medium(e.g., random access memory (RAM)), computer readable non-volatilemedium (e.g., a flash memory), a floppy disk, a compact disc-read onlymemory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc(DVD) and/or other suitable memory elements. Such memory 112 maygenerally be configured to store suitable computer-readable instructionsthat, when implemented by the processor(s) 110, configure the controller106 to perform various computer-implemented functions, such as one ormore aspects of the method 200 described below with reference to FIG. 4.In addition, controller 106 may also include various other suitablecomponents, such as a communications circuit or module, one or moreinput/output channels, a data/control bus and/or the like.

It should be appreciated that controller 106 may correspond to anexisting controller of the implement 10 or the work vehicle 12 orcontroller 106 may correspond to a separate processing device. Forinstance, in one embodiment, controller 106 may form all or part of aseparate plug-in module that may be installed within the implement 10 orthe work vehicle 12 to allow for the disclosed system and method to beimplemented without requiring additional software to be uploaded ontoexisting control devices of the implement 10 or the work vehicle 12.

Referring still to FIG. 3, in several embodiments, the instructions 116stored within the memory 112 of the controller 102 may be executed bythe processor(s) 110 to implement a pressure monitoring module 122. Ingeneral, the pressure monitoring module 122 may be configured to analyzethe signals received from pressure sensor(s) 102 and/or the relatedsignal data to estimate or infer when the associated ground engagingtool is plugged. Specifically, in several embodiments, the pressuremonitoring module 122 may be configured to compare a current operatingpressure of the actuator for the ground engaging tool to an associatedpressure threshold. For instance, in one embodiment, a pressurethreshold calibration may be stored within memory 112. The pressurethreshold calibration may be received from pressure sensor(s) 102 whenthe associated ground engaging tool is known to be un-plugged. Thus, thepressure threshold calibration may correspond to the pressure for theactuator with an un-plugged ground engaging tool. In several alternativeembodiments, the associated pressure threshold may be selected by amanufacturer of system 100 and/or correspond to an estimate for thepressure of the actuator for the un-plugged ground engaging tool. Whenthe current operating pressure of the actuator (e.g., that is requiredto lift the combined weight of the ground engaging tool and anyaccumulated residue and soil) exceeds the pressure threshold calibrationby a predetermined amount, the controller 106 may then infer or estimatethat the ground engaging tool is currently plugged and may initiateappropriate control actions in response to the detection of the pluggedcondition.

Additionally, controller 106 may be configured to measure the pressureof the actuator when the ground engaging tool is raised off the ground,e.g., on a headland turn. Thus, e.g., during each headland of anassociated vehicle, controller 106 may measure the pressure of fluidsupplied to the actuator with pressure sensor(s) 102 in order todetermine whether the ground engaging tool is plugged. Such periodicmeasurements may advantageously allow frequent detection of pluggedground engaging tools and/or avoid prolonged usage of plugged groundengaging tools.

In certain example embodiments, controller 106 may be configured tomeasure the pressure of the actuator with pressure sensor(s) 102 atcertain positions of the actuator, e.g., between fully retracted andextended. By measuring the pressure of the actuator with pressuresensor(s) 102 at one or more specific positions of the actuator, therelationship between the measured pressure and the weight of the groundengaging tool may be more reliably determined, e.g., due to a consistentmoment arm on the actuator at the one or more specific positions of theactuator.

Accordingly, controller 106 may be configured to measure or determinethe position of the actuator, e.g., with a suitable sensor, in additionto the pressure of the actuator. When the actuator reaches the one ormore specific positions of the actuator, controller 106 may measure thepressure of the actuator with pressure sensor(s) 102, e.g., by measuringthe pressure as the actuator passes the desired position and/or or bystopping the actuator at the one or more specific positions and thenrecording the pressure. The measured pressure at the one or morespecific positions may then be compared to a pressure thresholdcalibration. As another example, controller 106 may be configured tolift the ground engaging tool at a steady (e.g., slow) rate or speed andto measure the pressure of the actuator with pressure sensor(s) 102during such lifting. The measured pressure versus time from the liftingmay then be compared to a pressure threshold calibration versus time.

Referring still to FIG. 3, the instructions 116 stored within the memory112 of the controller 102 may also be executed by the processor(s) 110to implement a control module 124. In general, the control module 124may be configured to initiate a control action when it is determinedthat a ground engaging tool of the implement 10 is plugged. As indicatedabove, in one embodiment, the control module 124 may be configured toprovide a notification to the operator of the vehicle/implement 12/10indicating that material accumulation is present on, within, and/oradjacent to one or more of the ground engaging tools of the implement10. For instance, in one embodiment, the control module 124 may causinga visual or audible notification or indicator to be presented to theoperator via an associated user interface 126 provided within the cab 22of the vehicle 10.

In other embodiments, the control module 124 may be configured toexecute an automated control action designed to adjust the operation ofthe implement 10. For instance, in one embodiment, the controller 102may be configured to increase or decrease the operational or groundspeed of the implement 10 in an attempt to reduce the amount of materialaccumulation and/or to limit further material accumulation. Forinstance, as shown in FIG. 4, the controller 106 may be communicativelycoupled to both the engine 24 and the transmission 26 of the workvehicle 12. In such an embodiment, the controller 106 may be configuredto adjust the operation of the engine 24 and/or the transmission 26 in amanner that increases or decreases the ground speed of the work vehicle12 and, thus, the ground speed of the implement 10, such as bytransmitting suitable control signals for controlling an engine or speedgovernor (not shown) associated with the engine 24 and/or transmittingsuitable control signals for controlling the engagement/disengagement ofone or more clutches (not shown) provided in operative association withthe transmission 26. It should be appreciated that controller 106 mayalso be configured to decrease the ground speed in a manner that bringsvehicle/implement 12/10 to a complete stop.

In addition to the adjusting the ground speed of the vehicle/implement12, 10 (or as an alternative thereto), the controller 102 may also beconfigured to adjust an operating parameter associated with theground-engaging tools of the implement 10. For instance, as shown inFIG. 4, the controller 102 may be communicatively coupled to one or morevalves 128 configured to regulate the supply of fluid (e.g., hydraulicfluid or air) to one or more corresponding actuators of the implement10. In such an embodiment, by regulating the supply of fluid to theactuator(s), the controller 106 may automatically adjust the penetrationdepth, the down force, and/or any other suitable operating parameterassociated with the ground-engaging tools of the implement 10. Forinstance, by controlling the operation of the basket actuators 66, thecontroller 106 may automatically adjust the down force or down pressureapplied to the associated basket assembly 54. Additionally, thecontroller 106 may control the operation of the basket actuator 66 toraise and lower the associated basket assembly 54 relative to theground. In such a manner, the amount of material accumulation on basketassembly 54 may be advantageously reduced, e.g., the basket assembly 54may be de-plugged.

Referring now to FIG. 5, a flow diagram of one embodiment of a method200 for identifying plugging of ground engaging tools of an agriculturalimplement is illustrated in accordance with aspects of the presentsubject matter. In general, the method 200 will be described herein withreference to the agricultural implement 10, the basket assembly 54, andthe system 100 described above with reference to FIGS. 1 through 5.However, it should be appreciated by those of ordinary skill in the artthat the disclosed method 200 may generally be implemented with anyagricultural implement having any suitable implement configuration, anyground engaging tool having any suitable tool configuration, and/or anysystem having any suitable system configuration. In addition, althoughFIG. 5 depicts steps performed in a particular order for purposes ofillustration and discussion, the methods discussed herein are notlimited to any particular order or arrangement. One skilled in the art,using the disclosures provided herein, will appreciate that varioussteps of the methods disclosed herein can be omitted, rearranged,combined, and/or adapted in various ways without deviating from thescope of the present disclosure.

As shown in FIG. 5, at (202), the method 200 may include receiving asignal from a pressure sensor provided in operative association with anactuator for a ground engaging tool of an agricultural implement, e.g.,when the agricultural implement is lifted from the ground. Inparticular, the basket assemblies 54 may be lifted from the ground bybasket actuators 66 at (202). As described above with reference to FIG.3, the signals from each pressure sensor 102 may be received by theassociated system controller 106, e.g., during each headland of vehicle12. The signal(s) from pressure sensor(s) 102 correspond to the pressureof a respective one or more basket actuators 66 for basket assemblies54.

Additionally, at (204), the method 200 may include comparing, themeasured pressure of fluid supplied to basket actuators 66 from (202) toa predetermined threshold. In particular, the controller 106 may beconfigured to analyze the signals received from pressure sensor(s) 102and compare the signals to predetermined threshold(s). Specifically, asindicated above, the controller 106 may be configured to compare thesignals from pressure sensor(s) 102 and/or data related to such signalsto determine whether the measured pressure of fluid supplied to basketactuators 66 from (202) is/are significantly greater than a referencepressure for basket actuators 66, e.g., established by measuring thepressure of fluid supplied to basket actuators 66 when basket assemblies54 are known to be un-plugged.

Moreover, as shown in FIG. 5, at (206), the method 200 may includeidentifying that the ground engaging tool is plugged in response to thedetermination that the measured pressure of fluid supplied to basketactuators 66 from (202) exceeds the predetermined threshold at (204).For instance, as indicated above, the controller 106 may be configuredto infer or estimate that a ground engaging tool is plugged conditionwhen controller 106 determines that the signal from pressure sensor 102exceeds the reference pressure of the actuator for ground engaging toolby more than a predetermined value. The predetermined value may be anysuitable value, e.g., thirty kilopascals (30 kPa), fifty kilopascals (50kPa), seventy kilopascals (70 kPa), etc. Such predetermined values mayadvantageously allow detection of plugged ground engaging tools withoutexcessive false plugging detections.

It is to be understood that the steps of the method 200 are performed bythe controller 106 upon loading and executing software code orinstructions which are tangibly stored on a tangible computer readablemedium, such as on a magnetic medium, e.g., a computer hard drive, anoptical medium, e.g., an optical disc, solid-state memory, e.g., flashmemory, or other storage media known in the art. Thus, any of thefunctionality performed by the controller 106 described herein, such asthe method 200, is implemented in software code or instructions whichare tangibly stored on a tangible computer readable medium. Thecontroller 106 loads the software code or instructions via a directinterface with the computer readable medium or via a wired and/orwireless network. Upon loading and executing such software code orinstructions by the controller 106, the controller 106 may perform anyof the functionality of the controller 106 described herein, includingany steps of the method 200 described herein.

The term “software code” or “code” used herein refers to anyinstructions or set of instructions that influence the operation of acomputer or controller. They may exist in a computer-executable form,such as machine code, which is the set of instructions and data directlyexecuted by a computer's central processing unit or by a controller, ahuman-understandable form, such as source code, which may be compiled inorder to be executed by a computer's central processing unit or by acontroller, or an intermediate form, such as object code, which isproduced by a compiler. As used herein, the term “software code” or“code” also includes any human-understandable computer instructions orset of instructions, e.g., a script, that may be executed on the flywith the aid of an interpreter executed by a computer's centralprocessing unit or by a controller.

This written description uses examples to disclose the technology,including the best mode, and also to enable any person skilled in theart to practice the technology, including making and using any devicesor systems and performing any incorporated methods. The patentable scopeof the technology is defined by the claims, and may include otherexamples that occur to those skilled in the art. Such other examples areintended to be within the scope of the claims if they include structuralelements that do not differ from the literal language of the claims, orif they include equivalent structural elements with insubstantialdifferences from the literal language of the claims.

1. A system for identifying plugging within an agricultural implement,comprising: a ground engaging tool configured to be supported by theagricultural implement; a fluidic actuator coupled to the groundengaging tool, the fluidic actuator operable to adjust the groundengaging tool between a lifted position and a ground engaging position;a pressure sensor configured to measure a pressure of fluid supplied tothe fluidic actuator; and a controller communicatively coupled to thepressure sensor, the controller configured to receive, from the pressuresensor, a signal that corresponds to the pressure of fluid supplied tothe fluidic actuator, the controller further configured to determinewhen the ground engaging tool is plugged based at least in part on thesignal from the pressure sensor.
 2. The system of claim 1, wherein thecontroller is configured to receive the signal from the pressure sensorwhen the ground engaging tool is between the lifted position and theground engaging position.
 3. The system of claim 2, wherein thecontroller is configured to determine when the ground engaging tool isplugged in response to the pressure of fluid supplied to the fluidicactuator measured by the pressure sensor exceeding a predeterminedthreshold.
 4. The system of claim 2, wherein the signal is an operationsignal, and the controller is further configured to receive, from thepressure sensor, a calibration signal prior to receipt of the operationsignal, the calibration signal corresponding to the pressure of fluidsupplied to the fluidic actuator when the ground engaging tool isnon-plugged.
 5. The system of claim 4, wherein the controller isconfigured to determine when the ground engaging tool is plugged bycomparing the pressure of fluid supplied to the fluidic actuator fromthe calibration signal to the pressure of fluid supplied to the fluidicactuator from the operation signal.
 6. The system of claim 5, whereinthe controller is configured to determine that the ground engaging toolis plugged in response to the pressure of fluid supplied to the fluidicactuator from the operation signal being greater than the pressure offluid supplied to the fluidic actuator from the calibration signal by noless than a predetermined difference.
 7. The system of claim 1, whereinthe controller is configured to determine when the ground engaging toolis plugged in response to the pressure of fluid supplied to the fluidicactuator measured by the pressure sensor exceeding a predeterminedthreshold.
 8. The system of claim 1, wherein the ground engaging toolcomprises one or more of a disk blade, a shank, a leveling blade, and arolling basket.
 9. An agricultural implement, comprising: a frame; abasket assembly configured to be supported by the frame; a fluidicactuator coupled to the basket assembly, the fluidic actuator operableto adjust the basket assembly between a lifted position and a groundengaging position; a pressure sensor configured to measure a pressure offluid supplied to the fluidic actuator; and a controller communicativelycoupled to the pressure sensor, the controller configured to receive,from the pressure sensor, a signal that corresponds to the pressure offluid supplied to the fluidic actuator, the controller furtherconfigured to determine when the basket assembly is plugged based atleast in part on the signal from the pressure sensor.
 10. A method foridentifying plugging within an agricultural implement, the methodcomprising: receiving a signal from a pressure sensor, the signalcorresponding to a measured pressure of fluid supplied to a fluidicactuator coupled to a ground engaging tool; comparing, with a computingdevice, the measured pressure of fluid supplied to the fluidic actuatorto a predetermined threshold; and identifying, with the computingdevice, that the ground engaging tool is plugged in response to themeasured pressure of fluid supplied to the fluidic actuator exceedingthe predetermined threshold.
 11. The method of claim 10, furthercomprising controlling an operation of the agricultural implement toadjust an operating parameter associated with the agricultural implementwhen the ground engaging tool is plugged.
 12. The method of claim 10,further comprising notifying an operator of the agricultural implementwhen the ground engaging tool is plugged.
 13. The method of claim 10,wherein the signal from the pressure sensor corresponds to the measuredpressure of fluid supplied to the fluidic actuator when the groundengaging tool is between a lifted position and a ground engagingposition.
 14. The method of claim 10, wherein the signal is an operationsignal, the method further comprising receiving a calibration signalfrom the pressure sensor prior to receiving the operation signal, thecalibration signal corresponding to the measured pressure of fluidsupplied to the fluidic actuator when the ground engaging tool isnon-plugged.
 15. The method of claim 14, wherein identifying that theground engaging tool is plugged comprises comparing the pressure offluid supplied to the fluidic actuator from the calibration signal tothe pressure of fluid supplied to the fluidic actuator from theoperation signal.